| 二自由度机械手鲁棒跟踪控制器的一种设计方法 |
| |
| 引用本文： | 朱甦,陈再良.二自由度机械手鲁棒跟踪控制器的一种设计方法[J].机械科学与技术(西安),2006,25(2):189-191. |
| |
| 作者姓名： | 朱甦 陈再良 |
| |
| 作者单位： | 苏州大学控制工程系,苏州215021 |
| |
| 摘 要： | 叙述了鲁棒控制系统在二自由度机械手上的设计方法及仿真结果。此方法考虑了机械手的非线性和强耦合特性,用一个结构和参数都是固定不变的控制器,来保证即使不确定性对系统的性能品质影响最恶劣的时候也能满足设计要求。以两个自由度的机械手为例,对于应用此理论所得到的控制规律跟踪预先指定的轨迹进行了仿真研究,其仿真结果表明此方法是较为理想的。
|
| 关 键 词： | 机械手 不确定性 轨迹跟踪 鲁棒控制 |
| 文章编号： | 1003-8728（2006）02-0189-03 |
| 收稿时间： | 2004-03-16 |
| 修稿时间： | 2004-03-16 |
A Design Method for Robust Tracking Control of Robot Manipulators |
| |
| Zhu Su,Chen Zailiang.A Design Method for Robust Tracking Control of Robot Manipulators[J].Mechanical Science and Technology,2006,25(2):189-191. |
| |
| Authors: | Zhu Su Chen Zailiang |
| |
| Affiliation: | Department of Control Engineering, Suzhou University, Suzhou 215021 |
| |
| Abstract: | This paper presents a design method and simulation results of the robust control system of robot manipulators. Following the method, we consider the nonlinearity and strong coupling of robot manipulators, and use a controller of static structures and parameters to ensure that even though its uncertainty influences the performance of the system the most severely, the controller satisfies design requirements. FinaUy, taking a model of manipulators with two degrees of freedom for example, a simulation study was conducted to take tracking control of predetermined tracks and the simulation results show that this method is ideal. |
| |
| Keywords: | robot manipulator uncertainty tracking robust control |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
